Related papers: Lead-Lag-Shaped Interactive Force Estimation by Eq…
Physics-based simulation is essential for developing and evaluating robot manipulation policies, particularly in scenarios involving deformable objects and complex contact interactions. However, existing simulators often struggle to balance…
Goal: A limitation in robotic surgery is the lack of force feedback, due to challenges in suitable sensing techniques. To enhance the perception of the surgeons and precise force rendering, estimation of these forces along with tissue…
Latent force models are a class of hybrid models for dynamic systems, combining simple mechanistic models with flexible Gaussian process (GP) perturbations. An extension of this framework to include multiplicative interactions between the…
Conventional pressure sensors often integrate two distinct mechanisms to detect static and dynamic stimuli, hindering the development of high fidelity human-machine interfaces. Here, we present an intrinsic static/dynamic triboelectric…
A new approach to calculating current-induced forces in charge transport through nanosystems is introduced. Starting from the fully quantum mechanical hierarchical equations of motion formalism, a timescale separation between electronic and…
This work outlines a new multi-physics-compatible immersed rigid body method for Eulerian finite-volume simulations. To achieve this, rigid bodies are represented as a diffuse scalar field and an interface seeding method is employed to…
This paper presents a state-estimation solution for legged robots that uses a set of low-cost, compact, and lightweight sensors to achieve low-drift pose and velocity estimation under challenging locomotion conditions. The key idea is to…
We report a numerical study accounting for the electrical response of a slipping multi-contact interface and of their variations with the sliding speed. We characterize these variations by analyzing the voltage noise across the contact from…
The ability of animals to interact with complex dynamics is unmatched in robots. Especially important to the interaction performances is the online adaptation of body dynamics, which can be modeled as an impedance behaviour. However, the…
We propose a method that actively estimates contact location between a grasped rigid object and its environment and uses this as input to a peg-in-hole insertion policy. An estimation model and an active tactile feedback controller work…
We focus on the problem of sequential decision making in partially observable environments shared with other agents of uncertain types having similar or conflicting objectives. This problem has been previously formalized by multiple…
Complex phenomena incorporating several physical properties are abundant while they are occasionally revealing the variation of power-law behavior depending on the scale. In this present work, the global scaling-behavior of dynamical impact…
Accurate estimation of the in-hand pose of an object based on its CAD model is crucial in both industrial applications and everyday tasks, ranging from positioning workpieces and assembling components to seamlessly inserting devices like…
The flow-induced flutter has a significant role in aircraft stability, renewable energy extraction, animal locomotion, among many other applications. While being a ubiquitous phenomenon, the control of the flutter response has been…
The assessment of reactive power demand plays an instrumental role in power system planning. This paper presents a methodology for calculating reactive power demand based on a two-step approach. Unlike existing methodologies in the…
We propose a data-driven pressure distribution rendering method that uses the interpolation of experimentally obtained pressure values. The pressure data were collected using a pressure sensor array. The prediction was performed using…
The possibility to extract properties of an interface between two immiscible liquids, e.g., electrolyte solutions or polyelectrolyte multilayers, by means of impedance spectroscopy is investigated theoretically within a dynamic density…
Discrete dislocation dynamics (DDD) simulations offer valuable insights into the plastic deformation and work-hardening behavior of metals by explicitly modeling the evolution of dislocation lines under stress. However, the computational…
Learning from Demonstration (LfD) provides an intuitive and fast approach to program robotic manipulators. Task parameterized representations allow easy adaptation to new scenes and online observations. However, this approach has been…
We propose an elasto-plastic inspired friction model which incorporates interfacial stiffness. Steady state sliding friction is characterized by a generic nonmonotonic behavior, including both velocity weakening and strengthening branches.…